For most datasets which provide radar data for automotive applications, the radar is used only as a simple detector, e.g. NuScenes [1]}, to give sparse 2D point clouds. Recently, the Oxford Robotcar [2]} and MulRan datasets [3]} provided data collected from a scanning Navtech radar in various weather conditions. However, they do not provide object annotations as the data was designed primarily for Simultaneous Localisation and Mapping (SLAM) and place recognition in long-term autonomy. The Astyx dataset [4]} provides denser data (compared to current MIMO technology) but with only about 500 frames annotated. It is also limited in terms of weather variability. Table REF  compares existing public automotive radar datasets with RADIATE.
To summarise, although research into radar perception for autonomous driving has recently been gaining popularity [5]}, [6]}, [7]}, there is no radar dataset with a large set of actor annotations publicly available. We hope the introduction of RADIATE can boost autonomous driving research in the community.
